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# contact.h

    00001 /*************************************************************************
    00002  *                                                                       *
    00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
    00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
    00005  *                                                                       *
    00006  * This library is free software; you can redistribute it and/or         *
    00007  * modify it under the terms of EITHER:                                  *
    00008  *   (1) The GNU Lesser General Public License as published by the Free  *
    00009  *       Software Foundation; either version 2.1 of the License, or (at  *
    00010  *       your option) any later version. The text of the GNU Lesser      *
    00011  *       General Public License is included with this library in the     *
    00012  *       file LICENSE.TXT.                                               *
    00013  *   (2) The BSD-style license that is included with this library in     *
    00014  *       the file LICENSE-BSD.TXT.                                       *
    00015  *                                                                       *
    00016  * This library is distributed in the hope that it will be useful,       *
    00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
    00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
    00020  *                                                                       *
    00021  *************************************************************************/
    00022
    00023 #ifndef _ODE_CONTACT_H_
    00024 #define _ODE_CONTACT_H_
    00025
    00026 #include <ode/common.h>
    00027
    00028 #ifdef __cplusplus
    00029 extern "C" {
    00030 #endif
    00031
    00032
    00033 enum {
    00034   dContactMu2     = 0x001,
    00035   dContactFDir1      = 0x002,
    00036   dContactBounce  = 0x004,
    00037   dContactSoftERP = 0x008,
    00038   dContactSoftCFM = 0x010,
    00039   dContactMotion1 = 0x020,
    00040   dContactMotion2 = 0x040,
    00041   dContactSlip1      = 0x080,
    00042   dContactSlip2      = 0x100,
    00043
    00044   dContactApprox0 = 0x0000,
    00045   dContactApprox1_1  = 0x1000,
    00046   dContactApprox1_2  = 0x2000,
    00047   dContactApprox1 = 0x3000
    00048 };
    00049
    00050
    00051 typedef struct dSurfaceParameters {
    00052   /* must always be defined */
    00053   int mode;
    00054   dReal mu;
    00055
    00056   /* only defined if the corresponding flag is set in mode */
    00057   dReal mu2;
    00058   dReal bounce;
    00059   dReal bounce_vel;
    00060   dReal soft_erp;
    00061   dReal soft_cfm;
    00062   dReal motion1,motion2;
    00063   dReal slip1,slip2;
    00064 } dSurfaceParameters;
    00065
    00066
    00081 typedef struct dContactGeom {
    00082   dVector3 pos;
    00083   dVector3 normal;
    00084   dReal depth;
    00085   dGeomID g1,g2;
    00086   int side1,side2;
    00087 } dContactGeom;
    00088
    00089
    00090 /* contact info used by contact joint */
    00091
    00092 typedef struct dContact {
    00093   dSurfaceParameters surface;
    00094   dContactGeom geom;
    00095   dVector3 fdir1;
    00096 } dContact;
    00097
    00098
    00099 #ifdef __cplusplus
    00100 }
    00101 #endif
    00102
    00103 #endif